I’m trying to diagnose repeated ekf_yaw_reset messages. At the reset, I see an EKF lane change (XKF4.PI goes 0 to 1). I checked VIBE, IMU, MAG, and GPS just before the reset and they all look steady and normal.
What looks odd is XKF3.IYAW. It shows normal activity after takeoff, then when an in-flight yaw adjustment happens just after takeoff, IYAW goes to zero and stays flat. About 18 seconds later I get an ekf_yaw_reset. Roughly 3 minutes later there’s another lane change and IYAW starts moving again.
I’m pretty much at the limits of my knowledge now. I’ll do some more reading tonight, but in the mean time and tips are much appreciated.
Many thanks. Attaching log.
6” 4S ultralight quadcopter.
PS: the quad has vibe issues, 8m/s/s mean, but peaks hit 50 m/s/s. However the vibes were low before the reset.